Copy alpha_bot_2_stack_building_blocks into RoboCOIN_useable

alpha_bot_2_stack_building_blocks/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
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+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

alpha_bot_2_stack_building_blocks/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 100K-1M
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# alpha_bot_2_stack_building_blocks
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `alpha_bot_2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `two_finger_gripper`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 139 |
+| **Total Frames** | 130049 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 556 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 3.4GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+stack building blocks on the table.
+
+### Sub-Tasks
+This dataset includes 17 distinct subtasks:
+
+1. **Grasp the blue building block with left gripper** 
+2. **End** 
+3. **Place the pink building block in the center of table with left gripper** 
+4. **Grasp the pink building block with left gripper** 
+5. **Place the blue building block on the pink building blocks with left gripper** 
+6. **Grasp the green building block with left gripper** 
+7. **Place the pink building block on the blue building blocks with right gripper** 
+8. **Place the green block on the pink block with left gripper** 
+9. **Place the blue building block on the blue building blocks with right gripper** 
+10. **Place the blue building block on the pink building blocks with right gripper** 
+11. **Grasp the blue building block with right gripper** 
+12. **Place the pink building block on the blue building blocks with left gripper** 
+13. **Place the blue building block on the blue building blocks with left gripper** 
+14. **Grasp the pink building block with right gripper** 
+15. **Place the pink block on the blue block with right gripper** 
+16. **Place the blue building block in the center of table with left gripper** 
+17. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:138
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_chest_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_head_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+- **gripper_open_scale_state**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_open_scale_action**: float32
+  - Dimensions: left_gripper_open_scale, right_gripper_open_scale
+- **gripper_mode_state**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_mode_action**: int32
+  - Dimensions: left_gripper_mode, right_gripper_mode
+- **gripper_activity_state**: int32
+  - Dimensions: left_gripper_activity, right_gripper_activity
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "alpha_bot_2", "total_episodes": 139, "total_frames": 130049, "total_tasks": 1, "total_videos": 556, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:138"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_chest_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_head_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [28], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_gripper_open", "right_gripper_open"]}, "action": {"dtype": "float32", "shape": [28], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "left_arm_joint_7_rad", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "right_arm_joint_7_rad", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad", "left_gripper_open", "right_gripper_open"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+alpha_bot_2_stack_building_blocks_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_chest_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_head_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_right_wrist_rgb/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

alpha_bot_2_stack_building_blocks/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

alpha_bot_2_stack_building_blocks/annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

alpha_bot_2_stack_building_blocks/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

alpha_bot_2_stack_building_blocks/annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

alpha_bot_2_stack_building_blocks/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

alpha_bot_2_stack_building_blocks/annotations/scene_annotations.jsonl

@@ -0,0 +1,143 @@
+{"scene_index": 0, "scene": "The three building blocks are positioned with two on the back (one at the left and one at the right) and one on the left."}
+{"scene_index": 1, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 2, "scene": "Three building blocks are positioned at the back left and back right locations."}
+{"scene_index": 3, "scene": "Each  building blocks  is positioned at a different location: one in the back left, another on the left, and the last one on the right."}
+{"scene_index": 4, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 5, "scene": "The building blocks are arranged with three positions: two at the back (left and right) and one on the left side."}
+{"scene_index": 6, "scene": "The three sets of building blocks are positioned at the back right, left, and back left."}
+{"scene_index": 7, "scene": "Each  building blocks  is positioned either at the back left or back right, with two instances located at the back left and one instance at the back right."}
+{"scene_index": 8, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 9, "scene": "Building Blocks Back Right and Building Blocks Back Left (two instances)"}
+{"scene_index": 10, "scene": "There are three sets of building blocks, two located in the back left area and one in the back right."}
+{"scene_index": 11, "scene": "The building blocks are positioned to the right, back left, and left, indicating their placement relative to each other in space."}
+{"scene_index": 12, "scene": "Building Blocks: Back Right, Building Blocks: Back Left (two instances)"}
+{"scene_index": 13, "scene": "The building blocks at positions back left and back right are placed in the same area but on opposite sides."}
+{"scene_index": 14, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 15, "scene": "Each  building blocks  is positioned at either the back right or back left of the scene."}
+{"scene_index": 16, "scene": "The two sets of building blocks are positioned diagonally opposite each other at the back of the space—one on the right side and the other on the left."}
+{"scene_index": 17, "scene": "The building blocks are positioned with three instances: one on the left, another at the back left, and a third at the back right."}
+{"scene_index": 18, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 19, "scene": "building blocks: back left and building blocks: back right"}
+{"scene_index": 20, "scene": "Building Blocks Back Right Building Blocks Back Left (two instances)"}
+{"scene_index": 21, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 22, "scene": "The building blocks are positioned on the left, with two others located at the back left and back right positions."}
+{"scene_index": 23, "scene": "Each  building blocks  is positioned either at the back left or back right, with two instances located at the back left and one instance at the back right."}
+{"scene_index": 24, "scene": "The building blocks are positioned at three locations: two in the back (left and right), one on the left, with no other specified positions."}
+{"scene_index": 25, "scene": "Three sets of building blocks are positioned at the back of the scene, two on the left side and one on the right side."}
+{"scene_index": 26, "scene": "The building blocks are positioned at three locations: two on the left side (back left and left), and one on the back right."}
+{"scene_index": 27, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 28, "scene": "The building blocks on the left are positioned to the left, those at the back left are in the rear-left area, and the ones on the right are located on the right side."}
+{"scene_index": 29, "scene": "Each  building blocks  is positioned at either the back right or back left of the scene."}
+{"scene_index": 30, "scene": "Building Blocks Back Right Building Blocks Back Left Building Blocks Back Left"}
+{"scene_index": 31, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 32, "scene": "The building blocks are positioned at back left and back right, with two instances located at back left and one instance at back right."}
+{"scene_index": 33, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 34, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 35, "scene": "Building blocks are positioned at back right, left, and back left, creating a triangular arrangement with each block occupying distinct corners of the space."}
+{"scene_index": 36, "scene": "The building blocks are positioned at both the back left and back right locations."}
+{"scene_index": 37, "scene": "The building blocks are positioned at both the back left and back right locations."}
+{"scene_index": 38, "scene": "The building blocks are located at the back left and left positions relative to the main structure or frame they belong to."}
+{"scene_index": 39, "scene": "The building blocks are positioned at back left and back right, with two instances located at back left and one instance at back right."}
+{"scene_index": 40, "scene": "The building blocks are positioned on both sides, with two on the left and one on the right."}
+{"scene_index": 41, "scene": "Building Blocks (Back Right) Located at the back right section Building Blocks (Back Left) Placed at the back left area Building Blocks (Back) Situated at the back position"}
+{"scene_index": 42, "scene": "The building blocks are positioned at three locations: two in the back (left and right) and one on the left."}
+{"scene_index": 43, "scene": "The building blocks are positioned with two at the back (one on the right side, one unspecified), and one on the left."}
+{"scene_index": 44, "scene": "Each  building blocks  is positioned at either the back right or back left of the scene."}
+{"scene_index": 45, "scene": "The building blocks are located at the back left and back right."}
+{"scene_index": 46, "scene": "The building blocks are positioned at three locations: two in the back (left and right) and one on the left."}
+{"scene_index": 47, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 48, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 49, "scene": "The three sets of building blocks are positioned at different locations in relation to each other: one is located at the back-left, another is placed on the left side, and the last one is situated on the right."}
+{"scene_index": 50, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 51, "scene": "There are three sets of building blocks, two located in the back left area and one in the back right."}
+{"scene_index": 52, "scene": "The building blocks are positioned at the back, with two on the left side and one on the right side."}
+{"scene_index": 53, "scene": "The building blocks are positioned with three separate groups: one at the back left, another on the left, and a third on the right."}
+{"scene_index": 54, "scene": "The building blocks are positioned at the back, with two on the left side and one on the right side."}
+{"scene_index": 55, "scene": "building blocks back left and building blocks back right"}
+{"scene_index": 56, "scene": "The three sets of building blocks are positioned on the back left, right, and left sides respectively."}
+{"scene_index": 57, "scene": "The three building blocks are positioned on the left side, with one in the back-left and another in the back-right."}
+{"scene_index": 58, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 59, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 60, "scene": "The two sets of building blocks on the back side are positioned to the left and right, with one set occupying the back left and another in the back right."}
+{"scene_index": 61, "scene": "Building Blocks is located at Back Right. Building Blocks is located at Back Left."}
+{"scene_index": 62, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 63, "scene": "The building blocks are positioned at back left and back right, with two instances located at back left and one instance at back right."}
+{"scene_index": 64, "scene": "The building blocks are positioned with three units: one on the left, one in the back left, and another in the back right."}
+{"scene_index": 65, "scene": "The building blocks at the back left and left positions are adjacent to each other, while the one on the right is positioned separately."}
+{"scene_index": 66, "scene": "The building blocks at positions back left and back right each have one block placed behind them on the same side."}
+{"scene_index": 67, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 68, "scene": "Three building blocks are positioned at the back left and back right locations."}
+{"scene_index": 69, "scene": "The building blocks are positioned at three locations: two at the back (left and right) and one on the left."}
+{"scene_index": 70, "scene": "The two sets of building blocks are both located at the back left position."}
+{"scene_index": 71, "scene": "The building blocks are positioned at the back, with two on the left side and one on the right side."}
+{"scene_index": 72, "scene": "Three sets of building blocks are positioned at the back of the scene, two on the left side and one on the right side."}
+{"scene_index": 73, "scene": "Each  building blocks  is located at its specified position with no additional relationships to others beyond their positions."}
+{"scene_index": 74, "scene": "The building blocks are positioned with three separate instances: one on the left, another at the back left, and a third on the right."}
+{"scene_index": 75, "scene": "The building blocks are positioned with three units: one on the left, one in the back left, and another in the back right."}
+{"scene_index": 76, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 77, "scene": "The building blocks are positioned at three locations: two at the back (right and left), one on the left."}
+{"scene_index": 78, "scene": "The three sets of building blocks are positioned to the left, with two located at the back left and one slightly ahead."}
+{"scene_index": 79, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 80, "scene": "building blocks back left building blocks back right"}
+{"scene_index": 81, "scene": "Three sets of building blocks are positioned at the back of the scene, two on the left side and one on the right side."}
+{"scene_index": 82, "scene": "The building blocks on the right and left sides are positioned diagonally opposite to each other, with an additional set placed at the back-left, forming a triangular arrangement."}
+{"scene_index": 83, "scene": "building blocks positioned on the right building blocks positioned on the left building blocks positioned at the back left"}
+{"scene_index": 84, "scene": "The building blocks at positions back left and back right are placed in the same area but on opposite sides."}
+{"scene_index": 85, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 86, "scene": "Building Blocks Back Right Building Blocks Back Left two instances"}
+{"scene_index": 87, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 88, "scene": "The building blocks are positioned on the left, at the back right, and at the back left."}
+{"scene_index": 89, "scene": "Three building blocks are positioned at the back left and back right locations."}
+{"scene_index": 90, "scene": "The building blocks are positioned at three locations: two on the left side (back left and front left) and one on the right side."}
+{"scene_index": 91, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 92, "scene": "Building Blocks Back Right Building Blocks Back Left Building Blocks Back Left"}
+{"scene_index": 93, "scene": "The building blocks are positioned with two on the right and one in the back left."}
+{"scene_index": 94, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 95, "scene": "The building blocks are positioned with three distinct placements: one on the left, another at the back left, and a third at the back right."}
+{"scene_index": 96, "scene": "Three building blocks are positioned at the back left and back right locations."}
+{"scene_index": 97, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 98, "scene": "Each  building blocks  is positioned at either the back right or back left of the scene."}
+{"scene_index": 99, "scene": "Three building blocks are positioned at the back left and back right locations."}
+{"scene_index": 100, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 101, "scene": "The building blocks are positioned with three separate groups: two on the left (back left and front left) and one on the right."}
+{"scene_index": 102, "scene": "The building blocks are positioned at back left and back right, with two instances located at back left and one instance at back right."}
+{"scene_index": 103, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 104, "scene": "The building blocks on the left are positioned to the left, the ones on the right are placed to the right, and those in the back left area are located at the back-left corner."}
+{"scene_index": 105, "scene": "The building blocks are positioned at the back left, left, and back right locations."}
+{"scene_index": 106, "scene": "The building blocks are back left. The building blocks are back right."}
+{"scene_index": 107, "scene": "The three building blocks are positioned at the back, with one on the right side and two on the left side."}
+{"scene_index": 108, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 109, "scene": "The building blocks are positioned on the left side (one block), in the back left corner (another block), and in the back right corner (a third block)."}
+{"scene_index": 110, "scene": "The building blocks are positioned at three locations: two on the left side (one closer to the back) and one on the back right."}
+{"scene_index": 111, "scene": "Building Blocks Back Right Building Blocks Back Left"}
+{"scene_index": 112, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 113, "scene": "Building Blocks are located on the right side. Building Blocks are positioned on the left side. Building Blocks are situated at the back-left area."}
+{"scene_index": 114, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 115, "scene": "The building blocks are positioned as follows: two sets are located at the back, one on the left and one on the right, while another set is placed to the left."}
+{"scene_index": 116, "scene": "Each set of building blocks is positioned on either the left side or both back left and back right sides of the structure."}
+{"scene_index": 117, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 118, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 119, "scene": "Each building block is positioned at a specific location: one is placed in the back right area, another on the left side, another at the back left corner, and the last one is located at the back."}
+{"scene_index": 120, "scene": "The two sets of building blocks on the back side are positioned to the left and right, with one set occupying the back left and another in the back right."}
+{"scene_index": 121, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 122, "scene": "The building blocks on the right and left sides are positioned at those respective locations, while the one in the back left is situated diagonally behind and to the left of the others."}
+{"scene_index": 123, "scene": "The building blocks are positioned as follows: two are placed at the back corners (one on the left and one on the right), while the third is located on the left side but not in a corner."}
+{"scene_index": 124, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 125, "scene": "Building blocks: Back left. Building blocks: Back right."}
+{"scene_index": 126, "scene": "The building blocks are positioned as follows: two on the left (one in front and one at the back) and one on the back right."}
+{"scene_index": 127, "scene": "The four building blocks are positioned at the back of the scene, with three located on the left side and one on the right side."}
+{"scene_index": 128, "scene": "The building blocks are positioned on the left, back left, and right sides."}
+{"scene_index": 129, "scene": "There are three building blocks positioned at the back left and back right locations."}
+{"scene_index": 130, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 131, "scene": "The building blocks are positioned at the back right, and two sets are located at the back left."}
+{"scene_index": 132, "scene": "The building blocks are positioned at the back left, center, and another back left in the scene."}
+{"scene_index": 133, "scene": "The three sets of building blocks are positioned as follows: one at the back left, one on the right, and another on the left."}
+{"scene_index": 134, "scene": "The building blocks at positions back left and back right are placed in the same area but on opposite sides."}
+{"scene_index": 135, "scene": "Building blocks at the rear section on the right side, building blocks at the rear section on the left side, and building blocks positioned centrally at the rear."}
+{"scene_index": 136, "scene": "Building Blocks: Back Right Building Blocks: Back Left (two instances)"}
+{"scene_index": 137, "scene": "Three sets of building blocks are arranged with two on the back left side and one on the back right side."}
+{"scene_index": 138, "scene": "The building blocks are positioned at both the back left and back right locations."}
+{"scene_index": 139, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 140, "scene": "The building blocks at the back right and back left positions are placed in the back area, with the two blocks on the left sharing the same location."}
+{"scene_index": 141, "scene": "Building Blocks: Back Right and Building Blocks: Back Left (two instances)"}
+{"scene_index": 142, "scene": "Three building blocks are positioned at the back left and back right locations."}

alpha_bot_2_stack_building_blocks/annotations/subtask_annotations.jsonl

@@ -0,0 +1,17 @@
+{"subtask_index": 0, "subtask": "Grasp the blue building block with left gripper"}
+{"subtask_index": 1, "subtask": "End"}
+{"subtask_index": 2, "subtask": "Place the pink building block in the center of table with left gripper"}
+{"subtask_index": 3, "subtask": "Grasp the pink building block with left gripper"}
+{"subtask_index": 4, "subtask": "Place the blue building block on the pink building blocks with left gripper"}
+{"subtask_index": 5, "subtask": "Grasp the green building block with left gripper"}
+{"subtask_index": 6, "subtask": "Place the pink building block on the blue building blocks with right gripper"}
+{"subtask_index": 7, "subtask": "Place the green block on the pink block with left gripper"}
+{"subtask_index": 8, "subtask": "Place the blue building block on the blue building blocks with right gripper"}
+{"subtask_index": 9, "subtask": "Place the blue building block on the pink building blocks with right gripper"}
+{"subtask_index": 10, "subtask": "Grasp the blue building block with right gripper"}
+{"subtask_index": 11, "subtask": "Place the pink building block on the blue building blocks with left gripper"}
+{"subtask_index": 12, "subtask": "Place the blue building block on the blue building blocks with left gripper"}
+{"subtask_index": 13, "subtask": "Grasp the pink building block with right gripper"}
+{"subtask_index": 14, "subtask": "Place the pink block on the blue block with right gripper"}
+{"subtask_index": 15, "subtask": "Place the blue building block in the center of table with left gripper"}
+{"subtask_index": 16, "subtask": "null"}

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